Extended equivariant Picard complexes and homogeneous spaces

Let k be a field of characteristic 0 and let X be a smooth geometrically integral k-variety. In our previous paper we defined the extended Picard complex UPic(X) as a certain complex of Galois modules in degrees 0 and 1. We computed the isomorphism class of UPic(G) in the derived category of Galois modules for a connected linear k-group G. In this paper we assume that X is a homogeneous space of a connected linear k-group G with geometric stabilizer H. We compute the isomorphism class of UPic(X) in the derived category of Galois modules in terms of the character groups of G and H. The proof is based on the notion of the extended equivariant Picard complex UPic_G(X) of a G-variety X.Comment: 32 pages. Final version, to appear in Transformation Group

An Equivariant Observer Design for Visual Localisation and Mapping

This paper builds on recent work on Simultaneous Localisation and Mapping (SLAM) in the non-linear observer community, by framing the visual localisation and mapping problem as a continuous-time equivariant observer design problem on the symmetry group of a kinematic system. The state-space is a quotient of the robot pose expressed on SE(3) and multiple copies of real projective space, used to represent both points in space and bearings in a single unified framework. An observer with decoupled Riccati-gains for each landmark is derived and we show that its error system is almost globally asymptotically stable and exponentially stable in-the-large.Comment: 12 pages, 2 figures, published in 2019 IEEE CD

Torsion zero-cycles and the Abel-Jacobi map over the real numbers

This is a study of the torsion in the Chow group of zero-cycles on a variety over the real numbers. The first section recalls important results from the literature. The rest of the paper is devoted to the study of the AbelJacobi map a: A0XAlbXR restricted to torsion subgroups. Using Roitmans theorem over the complex numbers and a version of Blochs cohomological AbelJacobi map over the real numbers, it is shown that this map can be described completely in terms of ´etale cohomology. For some examples (products of curves, abelian varieties, certain fibre bundles) the torsion in the kernel and cokernel of the AbelJacobi map a is computed explicitly

Lichtenbaum-Tate duality for varieties over p-adic fields

S. Lichtenbaum has proved in [L1] that there is a nondegenerate pairing Pic(C)x Br(C)->Br(K) =Q/Z (1) between the Picard group and the Brauer group of a nonsingular projective curve C over a p-adic field K (a finite extension of the p-adic numbers Qp). His proof consists of a reduction via explicit cocycle calculations in Galois cohomology to a combination of Tate duality for group schemes over p-adic fields and the autoduality of the Jacobian of a smooth curve. In this paper we will reconstruct the above duality as a purely formal combination of a generalized form of Tate duality over p-adic fields and a form of Poincar´ e duality for curves over arbitrary fields of characteristic zero. This gives a more conceptual proof of Lichtenbaum's result and an analogue in higher dimensions